抄録
We propose an approach to Automated Driving based on Visual Servoing. Visual servoing is a vision-based control architecture for target tracking without recovering 3D scene in workingspace. To realize the automated driving, we design two controllers: one (lateral controller) is for controlling lateral vehicle dynamics and the other (longitudinal controller) is for controlling longitudinal vehicle dynamics. We first derive both models of lateral vehicle dynamics and camera, and design a lateral controller based on visual servoing. Next, we design a longitudinal controller without a model of longitudinal vehicle dynamics. Finally, we show efficiences of our automated driving by conputer simulations.
